Our Integrated Software Health Management (ISWHM) system continuously monitors the hardware sensors and the software in real-time. The ISWHM uses Bayesian networks, compiled to arithmetic circuits, to model software and hardware interactions. Advanced reasoning algorithms using arithmetic circuits not only enable the ISWHM to handle large, hierarchical models that are necessary in the realm of complex autonomous systems, but also enable efficient execution on small embedded processors. The latter capability is of extreme importance for small (mobile) autonomous units with limited computational power and low telemetry bandwidth. In this paper, we discuss the requirements of ISWHM. As our initial demonstration platform, we use a primitive Lego rover. A Lego Mindstorms microcontroller is used to implement a highly simplified autonomous rover driving system, running on the OSEK real-time operating system. We demonstrate that our ISWHM, running on this small embedded microcontroller, can perform fault detection as well as on-board reasoning for advanced diagnosis and root-cause detection in real time.

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